Traveling control apparatus

Abstract

A traveling control apparatus includes at least one processor. The at least one processor is configured to function as a driving assistance controller. The driving assistance controller is configured to delay a change in a lateral position of a preceding vehicle traveling ahead of the vehicle to obtain a delay lateral position of the preceding vehicle, and provide steering control that causes the vehicle to track the preceding vehicle on a basis of the delayed lateral position of the preceding vehicle.

The invention claimed is: 
     
       1. A traveling control apparatus to be mounted on a vehicle, the traveling control apparatus comprising at least one processor, wherein
 the at least one processor is configured to function as a driving assistance controller, and 
 the driving assistance controller is configured to:
 delay a change in a lateral position of a preceding vehicle ahead of the vehicle to obtain a delayed lateral position of the preceding vehicle, wherein the driving assistance controller is configured to delay the change in the lateral position of the preceding vehicle on a basis of the lateral position of the preceding vehicle with respect to the vehicle and an amount of lateral shift of the preceding vehicle, 
 calculate the amount of the lateral shift of the preceding vehicle on a basis of a differential value of the lateral position of the preceding vehicle with respect to the vehicle and a differential value of a lateral deviation of the vehicle with respect to a traveling path of the preceding vehicle, and 
 provide steering control that causes the vehicle to track the preceding vehicle on a basis of the delayed lateral position of the preceding vehicle. 
 
 
     
     
       2. The traveling control apparatus according to  claim 1 , wherein the driving assistance controller is configured to calculate the delayed lateral position of the preceding vehicle by subtracting the amount of lateral shift of the preceding vehicle from the lateral position of the preceding vehicle with respect to the vehicle. 
     
     
       3. The traveling control apparatus according to  claim 1 , wherein the driving assistance controller is configured to calculate a curvature on a basis of the delayed lateral position of the preceding vehicle, and cause the steering control to be performed in such a way that the vehicle travels with the calculated curvature. 
     
     
       4. A traveling control apparatus to be mounted on a vehicle, the traveling control apparatus comprising at least one processor, wherein
 the at least one processor is configured to function as a driving assistance controller configured to:
 delay a change in a lateral position of a preceding vehicle ahead of the vehicle to obtain a delayed lateral position of the preceding vehicle, wherein the driving assistance controller is configured to delay the change in the lateral position of the preceding vehicle on a basis of (i) the lateral position of the preceding vehicle with respect to the vehicle and (ii) an amount of lateral shift of the preceding vehicle, wherein the amount of lateral shift of the preceding vehicle is the amount of relative change, in a lateral direction, of the lateral position of the preceding vehicle and the lateral position of the vehicle, and 
 provide steering control that causes the vehicle to track the preceding vehicle on a basis of the delayed lateral position of the preceding vehicle. 
 
 
     
     
       5. A traveling control apparatus to be mounted on a vehicle, the traveling control apparatus comprising at least one processor, wherein
 the at least one processor is configured to function as a driving assistance controller configured to:
 delay a change in a lateral position of a preceding vehicle ahead of the vehicle to obtain a delayed lateral position of the preceding vehicle, wherein the driving assistance controller is configured to obtain the delayed lateral position of the preceding vehicle by subtracting an amount of lateral shift of the preceding vehicle from the lateral position of the preceding vehicle with respect to the vehicle, wherein the amount of lateral shift of the preceding vehicle is the amount of relative change, in a lateral direction, of the lateral position of the preceding vehicle and the lateral position of the vehicle, and 
 provide steering control that causes the vehicle to track the preceding vehicle on a basis of the delayed lateral position of the preceding vehicle.